services:
  visual-perception-engine:
    build:
      context: .
      dockerfile: Dockerfile
      ssh:
        - 'default'
      args:
        _UID: '${_UID}'
        _GID: '${_GID}'
        USER: '${USER}'
        WORKSPACE: '${WORKSPACE}'
        REPOS: '${REPOS}'
        BASE_IMAGE: 'dustynv/ros:humble-desktop-l4t-r36.4.0'
    ulimits:
      rtprio:
        soft: 90
        hard: 95
      nice:
        soft: -20
        hard: -20
    cap_add:
      - SYS_NICE
    container_name: engine
    image: visual-perception-engine:latest
    runtime: nvidia
    privileged: true
    network_mode: host
    stdin_open: true
    tty: true
    environment:
      - DISPLAY=$DISPLAY
      - QT_X11_NO_MITSHM=1
      - USER=$USER

    volumes:
      - /home/${USER}/${WORKSPACE}:/home/${USER}/${WORKSPACE}
      - /home/${USER}/rosbags:/home/${USER}/rosbags
      - /data/ros:/data/ros
      - /tmp/.X11-unix:/tmp/.X11-unix
      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority:rw
      - ${XAUTHORITY:-$HOME/.Xauthority}:/home/${USER}/.Xauthority:rw
      - /etc/localtime:/etc/localtime:ro
      - /etc/timezone:/etc/timezone:ro
      - /dev/input:/dev/input
      - /dev/bus/usb:/dev/bus/usb
      - ~/.ssh:/home/${USER}/.ssh:ro
      - ~/.bashrc:/home/${USER}/.bashrc
      - ~/.julia:/home/${USER}/.julia
      - /run/jtop.sock:/run/jtop.sock # to be able to run jtop inside docker
      - /opt/nvidia/nsight-systems/2024.5.4:/nsys # to be able to run nsys inside docker
      - /tmp/nvidia-mps:/tmp/nvidia-mps
      - /tmp/nvidia-log:/tmp/nvidia-log
    command: bash
    devices:
      - "/dev:/dev"
      - "/run/dbus:/run/dbus"